CN103376172B - Six-dimensional force sense sensor for minimally invasive surgical operation robot - Google Patents
Six-dimensional force sense sensor for minimally invasive surgical operation robot Download PDFInfo
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- CN103376172B CN103376172B CN201310289532.7A CN201310289532A CN103376172B CN 103376172 B CN103376172 B CN 103376172B CN 201310289532 A CN201310289532 A CN 201310289532A CN 103376172 B CN103376172 B CN 103376172B
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Abstract
The invention provides a kind of six-dimensional force sense sensor for minimally invasive surgical operation robot, the rood beam elastomer in circular arc " I " type hole of omnidirectional distribution, two baffle plates and an elastic body base is had including two, wherein: elastomer is arranged on the head and end of elastic body base along the strutbeam direction matched in clearance that rood beam stretches out, and is fixed by two baffle plates；Four strutbeams on each elastomer rood beam are all pasted with four foil gauges, are used for measuring corresponding power or moment；Four foil gauge one equiarm full-bridge circuits of composition on each strutbeam；Each equiarm full-bridge circuit draws four holding wires；Four holding wires are become a branch of by heat-shrink tube pyrocondensation parcel posterior cord and are drawn outside mechanical hand via mechanical hand hollow metal round bar by the area of space between rood beam strutbeam.Inventive sensor is installed at micro-wound surgical operation arm end effector, measures six-dimensional force feel component simultaneously；Avoid the mechanical hand friction with the otch negative influence to sensor measurement data.
Description
Technical field
The present invention relates to minimally invasive surgical operation robot technical field, in particular it relates to a kind of for micro-wound surgical operation
The six-dimensional force sense sensor of robot.
Background technology
Robotic surgery little by little becomes the main trend of minimally invasive surgery.Robot breaches the limitation of human eye, arm, tool
There are stability, repeatability and degree of accuracy that staff cannot be compared, prevent the shake that staff is likely to occur.Robotic surgery subtracts
Few operation wound and blood loss；Reduce peri-operation period sequela and the generation of complication；Make patient's year of acceptable operation
Age expanded range make some critical patient undergo surgery to be possibly realized.
In traditional operation, the hand-held operating theater instruments of doctor to when operating at sufferer, the contact force in operating theater instruments and affected part
Can be communicated directly at doctor by operating theater instruments, this contact force, in operation process, many times has the heaviest
The effect wanted, in partial surgical, even doctor carries out the important basis for estimation operated.But in present master-slave mode Wicresoft
In surgical operation robot system, follower hands lacks power feel acquisition capacity, thus power visual information can not be made by main behaviour
It is the perception of doctor institute as hands, this development seriously constraining master-slave mode minimally invasive surgical operation robot and using value.At present
Multi-dimensional force feeling sensor on the market due to volume excessive and be not suitable for minimally invasive surgical operation robot.Therefore, develop
A multi-dimensional force feeling sensor being applicable to master-slave mode minimally invasive surgical operation robot system has become as the one of this field
Individual focus and difficult point, existing important researching value and wide application prospect.
Through the retrieval of prior art is found, Chinese patent 201110123095.2, entitled: " outside Wicresoft
The three-dimensional force sensor of section's operating robot ", sensor disclosed in it includes the sensor array that eight foil gauges are constituted,
It is divided into round bar radial force to measure and round bar axial force measuration.But this sensor can only be measured power and lack the energy of measurement moment
Power.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of for the six of minimally invasive surgical operation robot
Dimension force sensor, this sensor can be with X, Y in robot measurement Minimally Invasive Surgery and the power in Z-direction and moment, i.e.
Measure six-dimensional force feel component simultaneously.
For realizing object above, the present invention provides a kind of six-dimensional force sense sensor for minimally invasive surgical operation robot,
Including elastic body base, the first elastomer, the second elastomer, the first baffle plate and second baffle, wherein: described first bullet
Gonosome, described second elastomer are the rood beam structure in circular arc " I " the shape hole having omnidirectional distribution；Described first elastomer,
Described second elastomer is arranged on the first and last of described elastic body base respectively along the strutbeam direction matched in clearance that rood beam stretches out
Two ends, and fixed by described first baffle plate and described second baffle；Described first elastomer, the ten of described second elastomer
Cube contiguous block in word girder construction axially embeds the relevant position of arm end effector, same with end effector
Axle, and become the structure element of arm end effector.
Preferably, four strutbeams in the rood beam structure of described first elastomer, described second elastomer are all pasted with
Four foil gauges, four foil gauge one equiarm full-bridge circuits of composition on each strutbeam, eight equiarm full-bridge electricity of composition altogether
Road；Each equiarm full-bridge circuit draws two input signal cables, two output signal lines, totally four holding wires；Four letters
Number line by heat-shrink tube pyrocondensation parcel posterior cord become a branch of by the area of space between rood beam strutbeam via mechanical hand hollow metal circle
Bar is drawn outside mechanical hand.
Preferably, center of arc's line in " I " shape hole on four strutbeams of described first elastomer is parallel with rood beam axis；
Center of arc's line in " I " shape hole on four strutbeams of described second elastomer and rood beam central axis upright.
Preferably, axial force F z is recorded by 16 foil gauges on four strutbeams being pasted onto described second elastomer；
Radially moment Mx and My are recorded by the foil gauge on the two groups of symmetry strutbeams being pasted onto on described second elastomer respectively.
Preferably, axial moment Mz is surveyed by 16 foil gauges on four strutbeams being pasted onto described first elastomer
?；Radial force Fx and Fy are recorded by the foil gauge on the two groups of symmetry strutbeams being pasted onto on described first elastomer respectively.
Compared with prior art, the present invention has a following beneficial effect:
Present configuration is relatively easy, and size is less, it is adaptable to minimally invasive surgery field, and can measure six-dimensional force feel point simultaneously
Amount；This sensor can be integrated in minimally invasive surgical operation robot end effector front end, it is to avoid mechanical hand and the friction of otch
Negative influence to sensor measurement data.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special
Levy, purpose and advantage will become more apparent upon:
Fig. 1 is the component of the power suffered by minimally invasive surgical operation robot end effector and moment；
Fig. 2 is six-dimensional force sense sensor structure chart；
Fig. 3 is the foil gauge layout on the first elastomer 3；
Fig. 4 is the foil gauge layout on the second elastomer 5；
Fig. 5 is equiarm full-bridge circuit figure；
Fig. 6 is that holding wire draws space diagram.
In figure: elastic body base the 1, first baffle plate the 2, first elastomer 3, second baffle the 4, second elastomer 5；
Foil gauge 301～316, foil gauge is 501～516.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into
Protection scope of the present invention.
Perform as it is shown in figure 1, the present embodiment intends measuring arm end on three translational degree of freedom X, Y and Z-direction
Power suffered by device and moment, i.e. six-dimensional force feel component.When operation starts, machinery hand channel abdominal cavity of patients or chest incision are inserted and are suffered from
Person's lesions position, in order to measure the power visual information of end effector and patient's lesions position contact biological tissue, senses power
Device is disposed close to the position of end effector operating forceps, operating scissors or like instrument, thus avoid mechanical hand and otch it
Between the frictional force impact on sensor.
As in figure 2 it is shown, the present embodiment provides a kind of six-dimensional force sense sensor for minimally invasive surgical operation robot, including:
Elastic body base the 1, first baffle plate the 2, first elastomer 3, second baffle 4 and the second elastomer 5, wherein: first
Elastomer 3 and the second elastomer 5 are all the rood beam structure in circular arc " I " the shape hole having omnidirectional distribution (such as Fig. 3 and Fig. 4
Shown in), center of arc's line in " I " shape hole on four strutbeams of the first elastomer 3 is parallel with rood beam axis, the second bullet
Center of arc's line in " I " shape hole on four strutbeams of gonosome 5 and rood beam central axis upright；First elastomer 3 and
Two elastomers 5 are arranged on the head and end of elastic body base 1 respectively along the strutbeam direction matched in clearance that rood beam stretches out, and use
First baffle plate 2 and second baffle 4 are fixed.
In the present embodiment, described six-dimensional force sense sensor passes through the first elastomer 3 and rood beam structure of the second elastomer 5
On cube contiguous block axially embed the relevant position of arm end effector, coaxial with end effector, and become
The structure element of arm end effector.
In the present embodiment, 32 foil gauges constitute sensor arraies, and 32 foil gauges are pasted on described the respectively
One elastomer, described second elastomer rood beam structure on four strutbeams on, concrete layout type such as Fig. 3 and Tu
Shown in 4, wherein:
As it is shown on figure 3, axial moment Mz is by being labeled as 301～316 on four strutbeams being pasted onto the first elastomer 3
Foil gauge record, when by Mz, four strutbeams of the first elastomer 3 all by by moment of flexure affected generation identical
Rotational deformation, four foil gauges composition one equiarm full-bridge circuit, i.e. foil gauge 301～304 on the most each strutbeam
Group bridge, foil gauge 305～308 groups of bridges, foil gauge 309～312 groups of bridges, foil gauge 313～316 groups of bridges；Radial force
Fx and Fy is recorded by the foil gauge being pasted onto on the first elastomer 3 on two groups of symmetry strutbeams respectively, when the power applying X-axis
Time, the first elastomer 3 will be occurred symmetric bending to deform along the strutbeam of Y direction by shearing, and X-direction
Strutbeam do not produce deformation due to matched in clearance relatively small being even negligible of stress；When the power applying Y-direction
Time, the strutbeam of the X-direction of the first elastomer 3 will be occurred symmetric deformation by shearing, and the strutbeam of Y direction
Deformation is not produced due to matched in clearance relatively small being even negligible of stress；Because of radial force Fx and Fy the most just
Hand over component, so as a example by the two groups of full-bridge circuits setting foil gauge 301～304,309～312 composition measure Fx, then
The full-bridge circuit of foil gauge 305～308,313～316 composition measures Fy.
As shown in Figure 4, axial force F z is by being labeled as 501～516 on four strutbeams being pasted onto the second elastomer 5
Foil gauge records, and four strutbeams are all deformed at equidirectional by the power of Z-direction, four on the most each strutbeam
Sheet foil gauge one equiarm full-bridge circuit of composition, i.e. foil gauge 501～504 groups of bridges, foil gauge 505～508 groups of bridges, should
Become sheet 509～512 groups of bridges, foil gauge 513～516 groups of bridges；Radially moment Mx and My are respectively by being pasted onto the second bullet
Foil gauge on two groups of symmetry strutbeams of gonosome 5 records, when applying the moment of X-axis, and the Y-axis of the second elastomer 5
Two strutbeams in direction will be produced point-symmetric deformation with cross searching by moment of flexure, and the strutbeam of X-direction is due to gap
Relatively small being even negligible of stress is coordinated not produce deformation；When applying around the moment of Y-axis, second is elastic
The strutbeam of the X-direction of body 5 will be produced point-symmetric deformation with cross searching by moment of flexure, and the strutbeam of Y direction
Deformation is not produced due to matched in clearance relatively small being even negligible of stress；Because of radial force Mx and My each other
Quadrature component, so as a example by the two groups of full-bridge circuits setting foil gauge 501～504,509～512 composition measure Mx,
Then the full-bridge circuit of foil gauge 505～508,513～516 composition measures My.
As it is shown in figure 5, described strain gauge of sensor forms eight equiarm full-bridge circuits altogether, each equiarm full-bridge circuit is equal
Having two input signal cables and two output signal lines, whole sensor has 32 holding wires；Each equiarm full-bridge
Four holding wires of circuit are rolled into a branch of rear extraction (as shown in Figure 6) by heat-shrink tube, wherein: foil gauge 301～304
With the equiarm full-bridge circuit holding wire of foil gauge 501～504 composition is respectively by the space A extraction between rood beam strutbeam；Should
Become sheet 305～308 and the equiarm full-bridge circuit holding wire of foil gauge 505～508 composition respectively by the sky between rood beam strutbeam
Between B draw；Foil gauge 309～312 and the equiarm full-bridge circuit holding wire of foil gauge 509～512 composition respectively by cross
Space C between beam strutbeam draws；Foil gauge 313～316 and the equiarm full-bridge circuit signal of foil gauge 513～516 composition
Line is drawn by the space D between rood beam strutbeam respectively；After extraction, eight bundle holding wires are worn in mechanical hand hollow metal round bar
Cross.
Present configuration is relatively easy, and size is less, it is adaptable to minimally invasive surgery field, and can measure six-dimensional force feel point simultaneously
Amount；This sensor can be integrated in minimally invasive surgical operation robot end effector front end, it is to avoid mechanical hand and the friction of otch
Negative influence to sensor measurement data.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (1)
1. the six-dimensional force sense sensor for minimally invasive surgical operation robot, it is characterised in that include elastomer base
Seat, the first elastomer, the second elastomer, the first baffle plate and second baffle, wherein: described first elastomer, described
Two elastomers are the rood beam structure in circular arc " I " the shape hole having omnidirectional distribution, and described rood beam structure centre does not has center
Hole；Described first elastomer, described second elastomer are arranged on institute along the strutbeam direction matched in clearance that rood beam stretches out respectively
State the head and end of elastic body base, and fixed by described first baffle plate and described second baffle；Described first elastomer,
Cube contiguous block in the rood beam structure of described second elastomer axially embeds the corresponding positions of arm end effector
Put, coaxial with end effector, and become the structure element of arm end effector；
Described first elastomer, described second elastomer rood beam structure on four strutbeams be all pasted with four strains
Sheet, four foil gauge one equiarm full-bridge circuits of composition on each strutbeam, amount to eight equiarm full-bridge circuits of composition；Often
Individual equiarm full-bridge circuit draws two input signal cables, two output signal lines, altogether four holding wires；Four holding wires
Become a branch of by heat-shrink tube pyrocondensation parcel posterior cord to be drawn via mechanical hand hollow metal round bar by the area of space between rood beam strutbeam
Go out outside mechanical hand；
Center of arc's line in " I " shape hole on four strutbeams of described first elastomer is parallel with rood beam axis；Described second
Center of arc's line in " I " shape hole on four strutbeams of elastomer and rood beam central axis upright；
Described six-dimensional force sense sensor is the sensor array being made up of 32 foil gauges, this sensor axial moment
Mz is recorded, when by axial moment by the foil gauge (301～316) on four strutbeams being pasted onto described first elastomer
During Mz, four strutbeams of the first elastomer are all produced identical rotational deformation by affecting by moment of flexure, the most each
Four foil gauges, one equiarm full-bridge circuit of composition on beam, the i.e. first foil gauge group bridge, the second foil gauge group bridge, the 3rd
Foil gauge group bridge, the 4th foil gauge group bridge；Radial force Fx and Fy are respectively by two groups be pasted onto on described first elastomer
Foil gauge on symmetrical strutbeam records, and when applying the power of X-axis, the first elastomer will be subject to along the strutbeam of Y direction
Shearing and occur symmetric bending to deform, and the strutbeam of X-direction is due to little even the ignoring of matched in clearance stress not
Produce deformation；When applying the power of Y-direction, it is right that the strutbeam of the X-direction of the first elastomer will be occurred by shearing
Claim deformation, and the strutbeam of Y direction does not produce deformation due to matched in clearance little even the ignoring of stress；Because of radial force
Fx and Fy quadrature component each other, so the full-bridge of the two groups of group bridges compositions set in above-mentioned first group～the 4th group of foil gauge
Circuit measuring radial force Fx, the full-bridge circuit of the most other two groups of foil gauge group bridges composition measures radial force Fy；
Axial force F z of described six-dimensional force sense sensor is by the foil gauge on four strutbeams being pasted onto described second elastomer
Recording, axial force F z is recorded, four by the foil gauge (501～516) on four strutbeams being pasted onto the second elastomer
Strutbeam is all deformed at equidirectional by the power of Z-direction, and four foil gauges on the most each strutbeam form one
Equiarm full-bridge circuit, the i.e. the 5th foil gauge group bridge, the 6th foil gauge group bridge, the 7th foil gauge group bridge, the 8th foil gauge group
Bridge；Radially moment Mx and My are surveyed by the foil gauge on the two groups of symmetry strutbeams being pasted onto on described second elastomer respectively
, when applying the moment of X-axis, two strutbeams of the Y direction of the second elastomer will be with cross searching by moment of flexure
Produce point-symmetric deformation, and the strutbeam of X-direction does not produce shape due to matched in clearance little even the ignoring of stress
Become；When applying around the moment of Y-axis, the strutbeam of the X-direction of the second elastomer will be produced with cross searching by moment of flexure
Raw point-symmetric deformation, and the strutbeam of Y direction does not produce deformation due to matched in clearance little even the ignoring of stress；
Because of radial direction moment Mx and My quadrature component each other, so the two groups of groups set in above-mentioned 5th group～the 8th group of foil gauge
The full-bridge circuit of bridge composition measures radially moment Mx, and the full-bridge circuit of the most other two groups of foil gauge group bridges composition is measured radially
Moment My.
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| CN101672705B (en) * | 2009-09-29 | 2010-12-29 | 西北工业大学 | Six-dimensional force sensor |
| CN102095534B (en) * | 2010-12-08 | 2014-02-19 | 上海交通大学 | Double rood beam high-sensitivity six-dimensional moment sensor |
| CN201945412U (en) * | 2011-01-14 | 2011-08-24 | 钟红刚 | Cross-shaped multidimensional force transducer |
| CN202720078U (en) * | 2012-05-29 | 2013-02-06 | 宁波柯力传感科技股份有限公司 | Strain type six-dimensional force sensor |
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